Basically anything under 10mph usually when pulling into/out of a parking space i get a "notch" steering wheel feel/response. Like its binding up or something not exactly sure what it could be.
Either take it to the dealer and/or find a reputable front end shop and get an analysis, parts list and quote. Don't waste time with self analysis and missing something that needs attention only to show up after your own repairs.
Without revealing mileage and other details it's hard to diagnose accurately.
Sounds like the u-joint in the lower steering column shaft is starting to bind. You can either have the lower shaft replaced, or spray it with lubricant to free it up. Do a search on the steering shaft, there are quite a few threads on this issue.